/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University
* of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef ORBEXTRACTOR_H
#define ORBEXTRACTOR_H

#include <vector>
#include <list>
#include <opencv/cv.h>

namespace SIVO {

class ExtractorNode {
 public:
    ExtractorNode() : bNoMore(false) {}

    void DivideNode(ExtractorNode &n1,
                    ExtractorNode &n2,
                    ExtractorNode &n3,
                    ExtractorNode &n4);

    std::vector<cv::KeyPoint> vKeys;
    cv::Point2i UL, UR, BL, BR;
    std::list<ExtractorNode>::iterator lit;
    bool bNoMore;
};

class ORBextractor {
 public:
    enum { HARRIS_SCORE = 0, FAST_SCORE = 1 };

    ORBextractor(int nfeatures,
                 float scaleFactor,
                 int nlevels,
                 int iniThFAST,
                 int minThFAST);

    ~ORBextractor() {}

    // Compute the ORB features and descriptors on an image.
    // ORB are dispersed on the image using an octree.
    // Mask is ignored in the current implementation.
    void operator()(cv::InputArray image,
                    cv::InputArray mask,
                    std::vector<cv::KeyPoint> &keypoints,
                    cv::OutputArray descriptors);

    int inline GetLevels() {
        return nlevels;
    }

    double inline GetScaleFactor() {
        return scaleFactor;
    }

    std::vector<float> inline GetScaleFactors() {
        return mvScaleFactor;
    }

    std::vector<float> inline GetInverseScaleFactors() {
        return mvInvScaleFactor;
    }

    std::vector<float> inline GetScaleSigmaSquares() {
        return mvLevelSigma2;
    }

    std::vector<float> inline GetInverseScaleSigmaSquares() {
        return mvInvLevelSigma2;
    }

    std::vector<cv::Mat> mvImagePyramid;

 protected:
    void ComputePyramid(cv::Mat image);
    void ComputeKeyPointsOctTree(
      std::vector<std::vector<cv::KeyPoint> > &allKeypoints);
    std::vector<cv::KeyPoint> DistributeOctTree(
      const std::vector<cv::KeyPoint> &vToDistributeKeys,
      const int &minX,
      const int &maxX,
      const int &minY,
      const int &maxY,
      const int &nFeatures,
      const int &level);

    void ComputeKeyPointsOld(
      std::vector<std::vector<cv::KeyPoint> > &allKeypoints);
    std::vector<cv::Point> pattern;

    int nfeatures;
    double scaleFactor;
    int nlevels;
    int iniThFAST;
    int minThFAST;

    std::vector<int> mnFeaturesPerLevel;

    std::vector<int> umax;

    std::vector<float> mvScaleFactor;
    std::vector<float> mvInvScaleFactor;
    std::vector<float> mvLevelSigma2;
    std::vector<float> mvInvLevelSigma2;
};

}  // namespace SIVO

#endif
